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Factored to support configurable amount of pwm's, fixes

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This commit is contained in:
Marcus Priesch 2014-03-12 12:34:23 +01:00 committed by harald
parent bf6f388691
commit 992e54fe25
8 changed files with 363 additions and 518 deletions
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2
examples/osd/dual-rgbw-actor/Makefile
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@ -3,7 +3,7 @@ all: er-example-server
# variable for this Makefile # variable for this Makefile
# configure CoAP implementation (3|7|12|13) (er-coap-07 also supports CoAP draft 08) # configure CoAP implementation (3|7|12|13) (er-coap-07 also supports CoAP draft 08)
WITH_COAP=13 WITH_COAP=7
# for some platforms # for some platforms
UIP_CONF_IPV6=1 UIP_CONF_IPV6=1

2
examples/osd/dual-rgbw-actor/flash.sh
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@ -1,2 +1,2 @@
#!/bin/bash #!/bin/bash
avrdude -V -pm128rfa1 -c arduino -P/dev/ttyUSB0 -b57600 -e -U flash:w:er-example-server.osd-merkur.hex:a -U eeprom:w:er-example-server.osd-merkur.eep:a avrdude -pm128rfa1 -c arduino -P/dev/ttyUSB0 -b57600 -e -U flash:w:er-example-server.osd-merkur.hex:a -U eeprom:w:er-example-server.osd-merkur.eep:a

16
examples/osd/dual-rgbw-actor/t4-servo-hardware.h
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@ -35,14 +35,14 @@
static servo_channel_type servo_channels [] = static servo_channel_type servo_channels [] =
{ /* PORTx, DDRx, PINxn, PWM */ { /* PORTx, DDRx, PINxn, PWM */
{0x05, 0x04, PINB7, 0} // r {0x05, 0x04, 1 << PINB7, 0} // r1
, {0x0E, 0x0D, PINE2, 0} // g , {0x0E, 0x0D, 1 << PINE2, 0} // g1
, {0x05, 0x04, PINB6, 0} // b , {0x05, 0x04, 1 << PINB6, 0} // b1
, {0x05, 0x04, PINB5, 0} // w , {0x05, 0x04, 1 << PINB5, 0} // w1
, {0x05, 0x04, PINB1, 0} // r , {0x05, 0x04, 1 << PINB1, 0} // r2
, {0x05, 0x04, PINB0, 0} // g , {0x05, 0x04, 1 << PINB0, 0} // g2
, {0x05, 0x04, PINB2, 0} // b , {0x05, 0x04, 1 << PINB2, 0} // b2
, {0x05, 0x04, PINB3, 0} // w , {0x05, 0x04, 1 << PINB3, 0} // w2
}; };
#endif #endif

78
examples/osd/dual-rgbw-actor/t4-servo-sensors.h
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@ -1,78 +0,0 @@
//os_fname_map// t4-servo-config:h:h
// Copyright (C) 2014 Marcus Priesch, All rights reserved
// In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at
// ****************************************************************************
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
// ****************************************************************************
//
//++
// Name
// t4-servo-config
//
// Purpose
// configuration for t4-servo
//
// Revision Dates
// 10-Mar-2014 (MPR) Creation
// ««revision-date»»···
//--
#include <avr/io.h>
#ifndef __T4_SERVO_CONFIG_H__
#define __T4_SERVO_CONFIG_H__ 1
// timing: (X:pwm, _:zero)
//
// X_______________XXXXXXXXXXXXX_______________XXXXXXXXXXXXX
//
// |<------------->|<--------->|<------------->|<--------->| ...
// SERVO_OFFSET SERVO_MAX SERVO_OFFSET SERVO_MAX
//
// within SERVO_MAX you get the PWM set with servo_set (id, pwm)
// if you set SERVO_OFFSET to zero, you get a pwm from 0 to 100% duty cycle
//
// the period of the smallest tick is derived from the timer4 prescaler
// plus the ISR overhead. however, the latter one should be constant
// regardless of the pwm signal generated
#define SERVO_OFFSET 0
#define SERVO_MIN 0
#define SERVO_MAX 255
// Counter value for timer 4 without any prescaler for a single tick
#define PWMFREQ 500
#define T4_VALUE F_CPU/SERVO_MAX/PWMFREQ
#define SERVO_COUNT 8
#define T4_SENSOR_NAME "Dual RGBW Led"
#ifndef servo_channels_defined
#define servo_channels_defined
static servo_channel_type servo_channels [SERVO_COUNT] =
{ {0x0E, 0x0D, PINE2, 0}
, {0x0B, 0x0D, PINB7, 0}
, {0x0B, 0x0D, PINB6, 0}
, {0x0B, 0x0D, PINB5, 0}
, {0x0B, 0x0D, PINB0, 0}
, {0x0B, 0x0D, PINB1, 0}
, {0x0B, 0x0D, PINB2, 0}
, {0x0B, 0x0D, PINB3, 0}
};
#endif
#endif

28
platform/osd-merkur/dev/t4-servo-sensor.c
View file

@ -1,5 +1,5 @@
/* /*
** Copyright (C) 2013 Marcus Priesch, All rights reserved ** Copyright (C) 2013-2014 Marcus Priesch, All rights reserved
** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at ** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at
** **
** Redistribution and use in source and binary forms, with or without ** Redistribution and use in source and binary forms, with or without
@ -36,6 +36,7 @@
** **
** Revision Dates ** Revision Dates
** 31-Mar-2013 (MPR) Creation ** 31-Mar-2013 (MPR) Creation
** 12-Mar-2014 (MPR) Factored to support configurable amount of pwm's
** ««revision-date»»··· ** ««revision-date»»···
**-- **--
*/ */
@ -45,6 +46,7 @@
#include "dev/t4-servo-sensor.h" #include "dev/t4-servo-sensor.h"
const struct sensors_sensor t4_servo_sensor; const struct sensors_sensor t4_servo_sensor;
static int status(int type); static int status(int type);
static int enabled = 0; static int enabled = 0;
@ -71,30 +73,16 @@ static int configure (int type, int c) // type, c: SENSORS_ACTIVE, 1 -> act.
else if (c == 1) else if (c == 1)
{ {
t4_servo_init (); t4_servo_init ();
t4_servo_set_io (0, T4_SENSOR_1_PORT, T4_SENSOR_1_DDR, T4_SENSOR_1_PIN);
t4_servo_set_io (1, T4_SENSOR_2_PORT, T4_SENSOR_2_DDR, T4_SENSOR_2_PIN);
t4_servo_set_io (2, T4_SENSOR_3_PORT, T4_SENSOR_3_DDR, T4_SENSOR_3_PIN);
t4_servo_set_io (3, T4_SENSOR_4_PORT, T4_SENSOR_4_DDR, T4_SENSOR_4_PIN);
} }
break; break;
case 0 : default :
t4_servo_set (0, c); if (type >= SERVO_COUNT)
return -1;
else
t4_servo_set (type, c);
break; break;
case 1 :
t4_servo_set (1, c);
break;
case 2 :
t4_servo_set (2, c);
break;
case 3 :
t4_servo_set (3, c);
default:
break;
} }
return 0; return 0;
} }

27
platform/osd-merkur/dev/t4-servo-sensor.h
View file

@ -1,5 +1,5 @@
/* /*
** Copyright (C) 2013 Marcus Priesch, All rights reserved ** Copyright (C) 2013-2014 Marcus Priesch, All rights reserved
** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at ** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at
** **
** Redistribution and use in source and binary forms, with or without ** Redistribution and use in source and binary forms, with or without
@ -36,7 +36,8 @@
** **
** Revision Dates ** Revision Dates
** 31-Mar-2013 (MPR) Creation ** 31-Mar-2013 (MPR) Creation
** ««revision-date»»··· ** 12-Mar-2014 (MPR) Factored to support configurable amount of pwm's
««revision-date»»···
**-- **--
*/ */
@ -44,28 +45,8 @@
#define __T4_SERVO_SENSOR_H__ #define __T4_SERVO_SENSOR_H__
#include "lib/sensors.h" #include "lib/sensors.h"
#include "t4-servo-config.h"
extern const struct sensors_sensor t4_servo_sensor; extern const struct sensors_sensor t4_servo_sensor;
#define T4_SENSOR_NAME "T4-Sensor"
#define T4_SENSOR_1_PORT 0x0E
#define T4_SENSOR_1_DDR 0x0D
#define T4_SENSOR_1_PIN PINE4
#define T4_SENSOR_2_PORT 0x0E
#define T4_SENSOR_2_DDR 0x0D
#define T4_SENSOR_2_PIN PINE3
#define T4_SENSOR_3_PORT 0x0E
#define T4_SENSOR_3_DDR 0x0D
#define T4_SENSOR_3_PIN PINE5
#define T4_SENSOR_4_PORT 0x0E
#define T4_SENSOR_4_DDR 0x0D
#define T4_SENSOR_4_PIN PINE6
#endif /* __T4_SERVO_SENSOR_H__ */ #endif /* __T4_SERVO_SENSOR_H__ */

49
platform/osd-merkur/dev/t4-servo.c
View file

@ -1,5 +1,5 @@
/* /*
** Copyright (C) 2013 Marcus Priesch, All rights reserved ** Copyright (C) 2013-2014 Marcus Priesch, All rights reserved
** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at ** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at
** **
** Redistribution and use in source and binary forms, with or without ** Redistribution and use in source and binary forms, with or without
@ -36,16 +36,18 @@
** **
** Revision Dates ** Revision Dates
** 31-Mar-2013 (MPR) Creation ** 31-Mar-2013 (MPR) Creation
** <EFBFBD><EFBFBD>revision-date<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ** 12-Mar-2014 (MPR) Factored to support configurable amount of pwm's
** ««revision-date»»···
**-- **--
*/ */
#include "t4-servo.h" #include "t4-servo.h"
#include "t4-servo-config.h"
#include "t4-servo-hardware.h"
#include <avr/io.h> #include <avr/io.h>
#include <avr/interrupt.h> #include <avr/interrupt.h>
#include "led.h"
static servo_channel_type servo_channels [SERVO_COUNT]; // static servo_channel_type servo_channels [SERVO_COUNT];
// timer 4: CTC OCR4A // timer 4: CTC OCR4A
#define WGM4 0x4 #define WGM4 0x4
@ -56,8 +58,8 @@ void t4_servo_init (void)
for (channel = 0; channel < SERVO_COUNT; channel ++) for (channel = 0; channel < SERVO_COUNT; channel ++)
{ {
servo_channels [channel].duty = SERVO_MAX/2; _SFR_IO8 (servo_channels [channel].ddr ) |= servo_channels [channel].pin;
t4_servo_set_io (channel, DEFAULT_PORT, DEFAULT_DDR, DEFAULT_PIN); _SFR_IO8 (servo_channels [channel].port) &= ~(servo_channels [channel].pin);
} }
cli (); cli ();
@ -66,45 +68,30 @@ void t4_servo_init (void)
TCCR4B_struct.wgm4 = (WGM4 & 0xc) >> 2; TCCR4B_struct.wgm4 = (WGM4 & 0xc) >> 2;
TCCR4B_struct.cs4 = 0x1; // No prescaler TCCR4B_struct.cs4 = 0x1; // No prescaler
TCCR4C = 0x00; TCCR4C = 0x00;
OCR4A = T4_VALUE; OCR4A = (T4_VALUE);
TIMSK4_struct.ocie4a = 1; TIMSK4_struct.ocie4a = 1;
TIMSK4_struct.toie4 = 1;
sei(); sei();
} }
void t4_servo_off (void) void t4_servo_off (void)
{ {
TIMSK4_struct.toie4 = 0;
TIMSK4_struct.ocie4a = 0; TIMSK4_struct.ocie4a = 0;
} }
int t4_servo_set_io
( unsigned char channel
, unsigned char port
, unsigned char ddr
, unsigned char pin
)
{
if (channel >= SERVO_COUNT)
return -1;
servo_channels [channel].port = port;
servo_channels [channel].ddr = ddr;
servo_channels [channel].pin = 1 << pin;
_SFR_IO8 (ddr) |= pin;
return 0;
}
int t4_servo_get (unsigned int channel) int t4_servo_get (unsigned int channel)
{ {
if (channel >= SERVO_COUNT) if (channel >= SERVO_COUNT)
return -1; return -1;
//printf ("t4_servo_get: %d, %d\n", channel, servo_channels [channel].duty);
return servo_channels [channel].duty; return servo_channels [channel].duty;
} }
int t4_servo_set (unsigned int channel, unsigned int duty) int t4_servo_set (unsigned int channel, unsigned char duty)
{ {
//printf ("t4_servo_set: %d, %d\n", channel, duty);
if (channel >= SERVO_COUNT) if (channel >= SERVO_COUNT)
return -1; return -1;
@ -129,14 +116,14 @@ ISR (TIMER4_COMPA_vect, ISR_NOBLOCK)
if (tick_count < servo_channels [channel].duty) if (tick_count < servo_channels [channel].duty)
{ {
// turn on // turn on
_SFR_IO8 (servo_channels [channel].ddr ) |= servo_channels [channel].pin; // _SFR_IO8 (servo_channels [channel].ddr ) |= servo_channels [channel].pin;
_SFR_IO8 (servo_channels [channel].port) |= servo_channels [channel].pin; _SFR_IO8 (servo_channels [channel].port) |= servo_channels [channel].pin;
} }
else else
{ {
// turn off // turn off
_SFR_IO8 (servo_channels [channel].port) &= ~(servo_channels [channel].pin); _SFR_IO8 (servo_channels [channel].port) &= ~(servo_channels [channel].pin);
_SFR_IO8 (servo_channels [channel].ddr ) |= servo_channels [channel].pin; // _SFR_IO8 (servo_channels [channel].ddr ) |= servo_channels [channel].pin;
} }
} }
@ -147,4 +134,6 @@ ISR (TIMER4_COMPA_vect, ISR_NOBLOCK)
tick_count = 0; tick_count = 0;
} }
sei(); sei();
} }

45
platform/osd-merkur/dev/t4-servo.h
View file

@ -1,5 +1,5 @@
/* /*
** Copyright (C) 2013 Marcus Priesch, All rights reserved ** Copyright (C) 2013-2014 Marcus Priesch, All rights reserved
** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at ** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at
** **
** Redistribution and use in source and binary forms, with or without ** Redistribution and use in source and binary forms, with or without
@ -36,47 +36,19 @@
** **
** Revision Dates ** Revision Dates
** 31-Mar-2013 (MPR) Creation ** 31-Mar-2013 (MPR) Creation
** <EFBFBD><EFBFBD>revision-date<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ** 12-Mar-2014 (MPR) Factored to support configurable amount of pwm's
««revision-date»»···
**-- **--
*/ */
#ifndef __T4_SERVO_H__ #ifndef __T4_SERVO_H__
#define __T4_SERVO_H__ #define __T4_SERVO_H__
// timing: (X:pwm, _:zero)
//
// X_______________XXXXXXXXXXXXX_______________XXXXXXXXXXXXX
//
// |<------------->|<--------->|<------------->|<--------->| ...
// SERVO_OFFSET SERVO_MAX SERVO_OFFSET SERVO_MAX
//
// within SERVO_MAX you get the PWM set with servo_set (id, pwm)
// if you set SERVO_OFFSET to zero, you get a pwm from 0 to 100% duty cycle
//
// the period of the smallest tick is derived from the timer4 prescaler
// plus the ISR overhead. however, the latter one should be constant
// regardless of the pwm signal generated
#define SERVO_OFFSET 256
#define SERVO_MIN 16
#define SERVO_MAX 32
// Counter value for timer 4 without any prescaler for a single tick
#define PWMFREQ 500
#define T4_VALUE F_CPU/SERVO_MAX/PWMFREQ
#define SERVO_COUNT 4
#define DEFAULT_PORT 0x0E
#define DEFAULT_PIN 1
#define DEFAULT_DDR 0x0D
typedef struct struct_servo_channel typedef struct struct_servo_channel
{ {
unsigned char port; unsigned char port;
unsigned char pin;
unsigned char ddr; unsigned char ddr;
unsigned char pin;
unsigned char duty; unsigned char duty;
} servo_channel_type; } servo_channel_type;
@ -84,13 +56,6 @@ void t4_servo_init(void);
void t4_servo_off(void); void t4_servo_off(void);
int t4_servo_get(unsigned int channel); int t4_servo_get(unsigned int channel);
int t4_servo_set(unsigned int channel, unsigned int duty); int t4_servo_set(unsigned int channel, unsigned char duty);
int t4_servo_set_io
( unsigned char channel
, unsigned char port
, unsigned char ddr
, unsigned char pin
);
#endif /* __T4_SERVO_H__ */ #endif /* __T4_SERVO_H__ */